diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 1ddedddff4..6ecf73a606 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -135,7 +135,7 @@ public:
 	struct vehicle_gps_position_s*	    get_gps_position() { return &_gps_pos; }
 	struct sensor_combined_s*	    get_sensor_combined() { return &_sensor_combined; }
 	struct home_position_s*		    get_home_position() { return &_home_pos; }
-	bool				    home_position_valid() { return _home_position_set; }
+	bool				    home_position_valid() { return (_home_pos.timestamp > 0); }
 	struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; }
 	struct mission_result_s*	    get_mission_result() { return &_mission_result; }
 	struct geofence_result_s*		    get_geofence_result() { return &_geofence_result; }
@@ -205,8 +205,6 @@ private:
 	geofence_result_s				_geofence_result;
 	vehicle_attitude_setpoint_s			_att_sp;
 
-	bool 		_home_position_set;
-
 	bool 		_mission_item_valid;		/**< flags if the current mission item is valid */
 	int		_mission_instance_count;	/**< instance count for the current mission */
 
@@ -257,7 +255,7 @@ private:
 	/**
 	 * Retrieve home position
 	 */
-	void		home_position_update();
+	void		home_position_update(bool force=false);
 
 	/**
 	 * Retreive navigation capabilities
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 92f3e2fecb..9131fb16f0 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -126,7 +126,6 @@ Navigator::Navigator() :
 	_pos_sp_triplet{},
 	_mission_result{},
 	_att_sp{},
-	_home_position_set(false),
 	_mission_item_valid(false),
 	_mission_instance_count(0),
 	_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
@@ -206,17 +205,13 @@ Navigator::sensor_combined_update()
 }
 
 void
-Navigator::home_position_update()
+Navigator::home_position_update(bool force)
 {
 	bool updated = false;
 	orb_check(_home_pos_sub, &updated);
 
-	if (updated) {
+	if (updated || force) {
 		orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos);
-
-		if (_home_pos.timestamp > 0) {
-			_home_position_set = true;
-		}
 	}
 }
 
@@ -298,7 +293,7 @@ Navigator::task_main()
 	global_position_update();
 	gps_position_update();
 	sensor_combined_update();
-	home_position_update();
+	home_position_update(true);
 	navigation_capabilities_update();
 	params_update();
 
@@ -408,7 +403,7 @@ Navigator::task_main()
 		if (have_geofence_position_data &&
 			(_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
 			(hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL)) {
-			bool inside = _geofence.inside(_global_pos, _gps_pos, _sensor_combined.baro_alt_meter[0], _home_pos, _home_position_set);
+			bool inside = _geofence.inside(_global_pos, _gps_pos, _sensor_combined.baro_alt_meter[0], _home_pos, home_position_valid());
 			last_geofence_check = hrt_absolute_time();
 			have_geofence_position_data = false;